Application of Improved BQGA in Robot Kinematics Inverse Solution

Lv, Xiaoqing; Zhao, Ming

doi:10.1155/2019/1659180

Cited by 9 publications

(2 citation statements)

References 13 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…According to the structural diagram of the manipulator and the coordinate system of the link parameters established by the D-H [18,19] parameter method, the link parameters of the PUMA560 [17,20] can be obtained, as shown in Table 1.…”

Section: Kinematics Modeling Of Manipulatormentioning

confidence: 99%

Improved Manipulator Obstacle Avoidance Path Planning Based on Potential Field Method

Zhao

2020

Journal of Robotics

Self Cite

View full text Add to dashboard Cite

Aiming at the existing artificial potential field method, it still has the defects of easy to fall into local extremum, low success rate and unsatisfactory path when solving the problem of obstacle avoidance path planning of manipulator. An improved method for avoiding obstacle path of manipulator is proposed. First, the manipulator is subjected to invisible obstacle processing to reduce the possibility of its own collision. Second, establish dynamic virtual target points to enhance the predictive ability of the manipulator to the road ahead. Then, the artificial potential field method is used to guide the manipulator movement. When the manipulator is in a local extreme or oscillating, the extreme point jump-out function is used in real time to make the end point of the manipulator produce small displacements and change the action direction to effectively jump out of the dilemma. Finally, the manipulator is controlled to avoid all obstacles and move smoothly to form a spatial optimization path from the start point to the end point. The simulation experiment shows that the proposed method is more suitable for complex working environment and effectively improves the success rate of manipulator path planning, which provides a reference for further developing the application of manipulator in complex environment.

show abstract

Section: Kinematics Modeling Of Manipulatormentioning

confidence: 99%

Improved Manipulator Obstacle Avoidance Path Planning Based on Potential Field Method

Zhao

2020

Journal of Robotics

Self Cite

View full text Add to dashboard Cite

show abstract

“…Kinematics Model of the Leg. Robot kinematics describes the relationship between the joint angle and end posture during movement [12]. e right front leg was taken as an example in this article, and the kinematics model of the robot was established by using the D-H method.…”

Section: Determination Of the Robot Kinematics Model And Static Stabimentioning

confidence: 99%

Stable Balance Adjustment Structure of the Quadruped Robot Based on the Bionic Lateral Swing Posture

Qin

Luo

Chuang

et al. 2020

Mathematical Problems in Engineering

View full text Add to dashboard Cite

Aiming at the problem that the stability of the quadruped robot is decreased as its leg momentum is too high, a stable balance adjustment structure of the quadruped robot based on the bionic lateral swing posture is proposed. First, the leg structure of the quadruped robot is improved and designed by using the mechanism of the lateral swing posture of the leg of the hoof animal. Then, the D-H method is used to construct the corresponding leg kinematics model and determine the generalized coordinates of the leg joints in the lateral swing posture. The torque expression of the quadruped robot when it is tilted is established. Based on the differential equation of momentum of the hip joint and its static stability analysis, the static stability conditions in the upright posture and the bionic lateral swing posture are given. Finally, the experimental simulation and comparative analysis of the upright posture and the lateral swing posture of the quadruped robot are proposed by using the Adams virtual prototype technology. The simulation results show that as the angle of lateral swing increases, the peak value of the positive flip torque of the quadruped robot body increases accordingly, while the degree of tilt decreases accordingly, which shows that the bionic lateral swing posture of the quadruped robot has higher static stability than the traditional upright posture. This research provides a technical reference for the design and optimization of the offline continuous gait of the robot and the improvement of stability.

show abstract

Inverse Kinematic Solution of 6-DOF Robot-Arm Based on Dual Quaternions and Axis Invariant Methods

2022

View full text Add to dashboard Cite

Application of Improved BQGA in Robot Kinematics Inverse Solution

Cited by 9 publications

References 13 publications

Improved Manipulator Obstacle Avoidance Path Planning Based on Potential Field Method

Improved Manipulator Obstacle Avoidance Path Planning Based on Potential Field Method

Stable Balance Adjustment Structure of the Quadruped Robot Based on the Bionic Lateral Swing Posture

Inverse Kinematic Solution of 6-DOF Robot-Arm Based on Dual Quaternions and Axis Invariant Methods

Contact Info

Product

Resources

About